Control of the high-order chained form system

Author

Nam, T.K. ; Tamura, T. ; Mita, T. ; Kim, Y.J.

Author_Institution

Korea Electrotechnol. Res. Inst., Changwon, South Korea

Volume

4

fYear

2002

fDate

5-7 Aug. 2002

Firstpage

2196

Abstract

In this paper, we propose two controllers for stabilization of the nonholonomic systems in high order chained form. One is a TVDC (time varying deadbeat control) which was developed based on a deadbeat control for time varying discrete time systems. The other is a integrator backstepping controller that yields asymptotic convergence of the states to the origin. Proposed control strategies are applied to the posture control of an underactuated manipulator in order to verify effectiveness of the control algorithm.

Keywords

attitude control; convergence; discrete time systems; manipulator dynamics; position control; stability; time-varying systems; TVDC; asymptotic convergence; high-order chained form system control; integrator backstepping controller; nonholonomic system; posture control; stabilization; time varying deadbeat control; time varying discrete time systems; underactuated manipulator; Acceleration; Backstepping; Control systems; Convergence; Discrete time systems; Manipulators; Mechanical systems; Sampling methods; Time varying systems; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE 2002. Proceedings of the 41st SICE Annual Conference

Print_ISBN

0-7803-7631-5

Type

conf

DOI

10.1109/SICE.2002.1195740

Filename

1195740